Opencv c++ stereoBM disparity map limited in distance
As I wrote in the title I have a problem with disparity generated from stereoBM.
The problem is that I can see disparities only in a range of distance, i.e. I can see me if I stand from 1 meter to 2 meters, before and after I see only black (holes, using the OpenCV's dictionary).
I need that I can create a depthmap with a distance greater than 2 meters and I don't know why there is this limitation.
Is there any problem related to the calibration or the rectify process?
I hope you can help me.
edit:
https://mega.nz/#!c5BnlCxT!U0EVi2cizy3fJbyfUF7m3haBibhz-SJpecdw0hYjFv8
https://mega.nz/#!RgBnhY4Z!v2CJKVRAPGK0cco1C02AFc8HeUgTCfhrTtWZs4aREqQ
https://mega.nz/#!IpJnRQSb!YVfd094W2KfRr6gdyiduiwJtkr2n13TVaGf1THvTM3A
here there are the raw images(undistorted), the dmap after the rectify process and the source code that i use to test the calibration is below.
bm->setPreFilterType(StereoBM::PREFILTER_XSOBEL);
bm->setPreFilterSize(preFilterSize); //31
bm->setPreFilterCap(preFilterCap); //31
bm->setBlockSize(blockSize); //31
bm->setMinDisparity(minDisp); //-5
bm->setNumDisparities(numDisp); //16
bm->setTextureThreshold(textThres); //10
bm->setUniquenessRatio(uniqueRatio); //15
bm->setSpeckleWindowSize(speckleSize); //101
bm->setSpeckleRange(speckleRange); //32
bm->setDisp12MaxDiff(dispDiff); //1
cvtColor(img1,img1gray,CV_BGR2GRAY);
cvtColor(img2,img2gray,CV_BGR2GRAY);
bm->compute(img1gray, img2gray, disp);
disp.convertTo(disp8, CV_8UC1, 255/(numDisp*16.));
displayImages();
All the parameters are adjustable realtime with sliders and the value commented after each row is the default or initial value.
Thank you for your patience.
c++ opencv stereo-3d
asked Nov 21 '18 at 11:44
UomoNero
11
|
show 2 more comments
As I wrote in the title I have a problem with disparity generated from stereoBM.
The problem is that I can see disparities only in a range of distance, i.e. I can see me if I stand from 1 meter to 2 meters, before and after I see only black (holes, using the OpenCV's dictionary).
I need that I can create a depthmap with a distance greater than 2 meters and I don't know why there is this limitation.
Is there any problem related to the calibration or the rectify process?
I hope you can help me.
edit:
https://mega.nz/#!c5BnlCxT!U0EVi2cizy3fJbyfUF7m3haBibhz-SJpecdw0hYjFv8
https://mega.nz/#!RgBnhY4Z!v2CJKVRAPGK0cco1C02AFc8HeUgTCfhrTtWZs4aREqQ
https://mega.nz/#!IpJnRQSb!YVfd094W2KfRr6gdyiduiwJtkr2n13TVaGf1THvTM3A
here there are the raw images(undistorted), the dmap after the rectify process and the source code that i use to test the calibration is below.
bm->setPreFilterType(StereoBM::PREFILTER_XSOBEL);
bm->setPreFilterSize(preFilterSize); //31
bm->setPreFilterCap(preFilterCap); //31
bm->setBlockSize(blockSize); //31
bm->setMinDisparity(minDisp); //-5
bm->setNumDisparities(numDisp); //16
bm->setTextureThreshold(textThres); //10
bm->setUniquenessRatio(uniqueRatio); //15
bm->setSpeckleWindowSize(speckleSize); //101
bm->setSpeckleRange(speckleRange); //32
bm->setDisp12MaxDiff(dispDiff); //1
cvtColor(img1,img1gray,CV_BGR2GRAY);
cvtColor(img2,img2gray,CV_BGR2GRAY);
bm->compute(img1gray, img2gray, disp);
disp.convertTo(disp8, CV_8UC1, 255/(numDisp*16.));
displayImages();
All the parameters are adjustable realtime with sliders and the value commented after each row is the default or initial value.
Thank you for your patience.
c++ opencv stereo-3d
asked Nov 21 '18 at 11:44
UomoNero
11
1
Please provide some codes.
– Mosius
Nov 21 '18 at 11:57
if possible, provide code and sample images
– Micka
Nov 21 '18 at 12:05
I edited the question with the information requested, thanks
– UomoNero
Nov 21 '18 at 15:35
You should take the time to add the images and relevant code (BM parameters) to the question. Nobody wants to download and read the whole source file.
– jodis
Nov 21 '18 at 21:22
@jodis sorry, i will edit my question. I can tell you that i'm using the sample code from opencv and modified in the manner that gets in input not a list of images but take the images in real time.
– UomoNero
Nov 22 '18 at 8:25
|
show 2 more comments
As I wrote in the title I have a problem with disparity generated from stereoBM.
The problem is that I can see disparities only in a range of distance, i.e. I can see me if I stand from 1 meter to 2 meters, before and after I see only black (holes, using the OpenCV's dictionary).
I need that I can create a depthmap with a distance greater than 2 meters and I don't know why there is this limitation.
Is there any problem related to the calibration or the rectify process?
I hope you can help me.
edit:
https://mega.nz/#!c5BnlCxT!U0EVi2cizy3fJbyfUF7m3haBibhz-SJpecdw0hYjFv8
https://mega.nz/#!RgBnhY4Z!v2CJKVRAPGK0cco1C02AFc8HeUgTCfhrTtWZs4aREqQ
https://mega.nz/#!IpJnRQSb!YVfd094W2KfRr6gdyiduiwJtkr2n13TVaGf1THvTM3A
here there are the raw images(undistorted), the dmap after the rectify process and the source code that i use to test the calibration is below.
bm->setPreFilterType(StereoBM::PREFILTER_XSOBEL);
bm->setPreFilterSize(preFilterSize); //31
bm->setPreFilterCap(preFilterCap); //31
bm->setBlockSize(blockSize); //31
bm->setMinDisparity(minDisp); //-5
bm->setNumDisparities(numDisp); //16
bm->setTextureThreshold(textThres); //10
bm->setUniquenessRatio(uniqueRatio); //15
bm->setSpeckleWindowSize(speckleSize); //101
bm->setSpeckleRange(speckleRange); //32
bm->setDisp12MaxDiff(dispDiff); //1
cvtColor(img1,img1gray,CV_BGR2GRAY);
cvtColor(img2,img2gray,CV_BGR2GRAY);
bm->compute(img1gray, img2gray, disp);
disp.convertTo(disp8, CV_8UC1, 255/(numDisp*16.));
displayImages();
All the parameters are adjustable realtime with sliders and the value commented after each row is the default or initial value.
Thank you for your patience.
c++ opencv stereo-3d
asked Nov 21 '18 at 11:44
UomoNero
11
As I wrote in the title I have a problem with disparity generated from stereoBM.
The problem is that I can see disparities only in a range of distance, i.e. I can see me if I stand from 1 meter to 2 meters, before and after I see only black (holes, using the OpenCV's dictionary).
I need that I can create a depthmap with a distance greater than 2 meters and I don't know why there is this limitation.
Is there any problem related to the calibration or the rectify process?
I hope you can help me.
edit:
https://mega.nz/#!c5BnlCxT!U0EVi2cizy3fJbyfUF7m3haBibhz-SJpecdw0hYjFv8
https://mega.nz/#!RgBnhY4Z!v2CJKVRAPGK0cco1C02AFc8HeUgTCfhrTtWZs4aREqQ
https://mega.nz/#!IpJnRQSb!YVfd094W2KfRr6gdyiduiwJtkr2n13TVaGf1THvTM3A
here there are the raw images(undistorted), the dmap after the rectify process and the source code that i use to test the calibration is below.
bm->setPreFilterType(StereoBM::PREFILTER_XSOBEL);
bm->setPreFilterSize(preFilterSize); //31
bm->setPreFilterCap(preFilterCap); //31
bm->setBlockSize(blockSize); //31
bm->setMinDisparity(minDisp); //-5
bm->setNumDisparities(numDisp); //16
bm->setTextureThreshold(textThres); //10
bm->setUniquenessRatio(uniqueRatio); //15
bm->setSpeckleWindowSize(speckleSize); //101
bm->setSpeckleRange(speckleRange); //32
bm->setDisp12MaxDiff(dispDiff); //1
cvtColor(img1,img1gray,CV_BGR2GRAY);
cvtColor(img2,img2gray,CV_BGR2GRAY);
bm->compute(img1gray, img2gray, disp);
disp.convertTo(disp8, CV_8UC1, 255/(numDisp*16.));
displayImages();
All the parameters are adjustable realtime with sliders and the value commented after each row is the default or initial value.
Thank you for your patience.
c++ opencv stereo-3d
c++ opencv stereo-3d
asked Nov 21 '18 at 11:44
UomoNero
11
asked Nov 21 '18 at 11:44
UomoNero
11
edited Nov 22 '18 at 10:41
asked Nov 21 '18 at 11:44
UomoNero
11
asked Nov 21 '18 at 11:44
UomoNero
11
asked Nov 21 '18 at 11:44
UomoNero
11
11
1
Please provide some codes.
– Mosius
Nov 21 '18 at 11:57
if possible, provide code and sample images
– Micka
Nov 21 '18 at 12:05
I edited the question with the information requested, thanks
– UomoNero
Nov 21 '18 at 15:35
You should take the time to add the images and relevant code (BM parameters) to the question. Nobody wants to download and read the whole source file.
– jodis
Nov 21 '18 at 21:22
@jodis sorry, i will edit my question. I can tell you that i'm using the sample code from opencv and modified in the manner that gets in input not a list of images but take the images in real time.
– UomoNero
Nov 22 '18 at 8:25
|
show 2 more comments
1
Please provide some codes.
– Mosius
Nov 21 '18 at 11:57
if possible, provide code and sample images
– Micka
Nov 21 '18 at 12:05
I edited the question with the information requested, thanks
– UomoNero
Nov 21 '18 at 15:35
You should take the time to add the images and relevant code (BM parameters) to the question. Nobody wants to download and read the whole source file.
– jodis
Nov 21 '18 at 21:22
@jodis sorry, i will edit my question. I can tell you that i'm using the sample code from opencv and modified in the manner that gets in input not a list of images but take the images in real time.
– UomoNero
Nov 22 '18 at 8:25
1
1
Please provide some codes.
– Mosius
Nov 21 '18 at 11:57
Please provide some codes.
– Mosius
Nov 21 '18 at 11:57
if possible, provide code and sample images
– Micka
Nov 21 '18 at 12:05
if possible, provide code and sample images
– Micka
Nov 21 '18 at 12:05
I edited the question with the information requested, thanks
– UomoNero
Nov 21 '18 at 15:35
I edited the question with the information requested, thanks
– UomoNero
Nov 21 '18 at 15:35
You should take the time to add the images and relevant code (BM parameters) to the question. Nobody wants to download and read the whole source file.
– jodis
Nov 21 '18 at 21:22
You should take the time to add the images and relevant code (BM parameters) to the question. Nobody wants to download and read the whole source file.
– jodis
Nov 21 '18 at 21:22
@jodis sorry, i will edit my question. I can tell you that i'm using the sample code from opencv and modified in the manner that gets in input not a list of images but take the images in real time.
– UomoNero
Nov 22 '18 at 8:25
@jodis sorry, i will edit my question. I can tell you that i'm using the sample code from opencv and modified in the manner that gets in input not a list of images but take the images in real time.
– UomoNero
Nov 22 '18 at 8:25
|
show 2 more comments
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1
Please provide some codes.
– Mosius
Nov 21 '18 at 11:57
if possible, provide code and sample images
– Micka
Nov 21 '18 at 12:05
I edited the question with the information requested, thanks
– UomoNero
Nov 21 '18 at 15:35
You should take the time to add the images and relevant code (BM parameters) to the question. Nobody wants to download and read the whole source file.
– jodis
Nov 21 '18 at 21:22
@jodis sorry, i will edit my question. I can tell you that i'm using the sample code from opencv and modified in the manner that gets in input not a list of images but take the images in real time.
– UomoNero
Nov 22 '18 at 8:25